CAN node / AP_Periph + LightWare SF40/C 360 Lidar - not full coverage

Hardware CAN Devices
1

Hi, I have a problem with SF40/C 360 Lidar on DroneCAN showing measurments only in front of a drone, not full 360° coverage.

The LIDAR is connected to MatekL431 CANnode with both AP_Periph/MatekL431-Proximity firmware flashed. (Steps based on this article: 360 Avoidance using multiple CygBot Lidars - #3 by AnJu ).
FW is Arducopter 4.4.0-beta2 on Cube Orange+

It somewhat works, but the messages on the canbus transmit obstacle distance only in first sector . Also, obstacles are displayed only in front of drone in mission planner proximity GUI.

can
can944×288 46 KB

PROXIMITY-GUI

The classic serial connection works perfectly fine, obstacles in GUI are displayed in full 360° coverage.

Any ideas? Thanks for help

2

Can you send me the parameter list for both the CAN node and your flight controller. Thanks

3

Rishab, thanks for helping.

Node parameters:

node-params
node-params776×728 88.9 KB

FC parameters:
params.param (18.9 KB)

4

I don’t see anything wrong in the params. Can you try setting PRX1_MAX = 0 and see if some more values pop up?

5

Tried PRX1_MAX = 0 and no difference.

The CAN messages looks like this, only the distance value is changing, but not pitch/yaw or any other values.

mp-inspector
mp-inspector1078×1310 244 KB

6

Any ideas? Thank you